变拓扑结构船舶焊接机器人机构运动学分析
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摘要
设计了一种拓扑结构可变的船舶焊接机器人机构,可改变自身构件数,完成自由度变化,实现复杂焊接、简单局部焊接及平焊、立焊等特殊焊接任务。基于运动链环路理论,并采用New?ton-Raphson法进行机构运动学建模,得到其位置正解,进而分析其速度与加速度规律。相关仿真分析结果表明,该机构可较好完成船舶焊接的工作要求。
A ship welding robot with variable topology structure is designed,which can change the numbers of its components to achieve the change of degree of freedom(DOF),and to accomplish specific welding tasks such as complex welding,simple partial welding,horizontal welding and vertical welding,etc. Based on the theory of kinematic chain loop and Newton-Raphson method,the kinematics model of the mechanism is established,and the forward position solution is obtained. Then the law of velocity and acceleration is analyzed.Finally,the simulation result shows that the newly designed manipulator can meet the requirements of ship welding effectively.
A ship welding robot with variable topology structure is designed,which can change the numbers of its components to achieve the change of degree of freedom(DOF),and to accomplish specific welding tasks such as complex welding,simple partial welding,horizontal welding and vertical welding,etc. Based on the theory of kinematic chain loop and Newton-Raphson method,the kinematics model of the mechanism is established,and the forward position solution is obtained. Then the law of velocity and acceleration is analyzed.Finally,the simulation result shows that the newly designed manipulator can meet the requirements of ship welding effectively.
引文
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[6]蔡敢为,潘宇晨,王红州,等.基于功能分析的新型装载机构型综合研究[J].机械工程学报,2014(11):50-59.
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[8]王汝贵,陈辉庆,戴建生.新型可控变胞式码垛机器人机构动态稳定性研究[J].机械工程学报,2017,53(13):39-47.
[9]刘征,陈谊超,丁华锋.一种新型矿用正铲液压挖掘机的运动学分析[J].机械工程学报,2014,50(15):28-33.
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[11]朱凯君,蔡敢为,张林,等.新型三自由度多连杆混合驱动机构的运动学分析和工作空间数值求解[J].重型机械,2016(5):61-67.
[2]赵伯楗,曹凌源,郑慧锦,等.船舶高效焊接工艺及装备[J].国防制造技术,2010,6(3):1-2.
[3]DAI J S,JONES J R.Mobility in metamorphic mechanisms of foldable/erectable kinds[J].Journal of Mechanical Design,1999,121(3):375-382.
[4]DAI Jiansheng,ZHANG Qixian.Metamorphic mechanism and their configuration models[J].Chinese Journal of Mechanical Engineering,2000,13(3):212-218.
[5]潘宇晨,蔡敢为,王红州,等.具有变胞功能的电动装载机构构态进化拓扑结构分析与基因建模[J].机械工程学报,2014,50(1):38-46.
[6]蔡敢为,潘宇晨,王红州,等.基于功能分析的新型装载机构型综合研究[J].机械工程学报,2014(11):50-59.
[7]张林.新型可控装载机构设计理论与应用研究[D].南宁:广西大学,2015:54-57.
[8]王汝贵,陈辉庆,戴建生.新型可控变胞式码垛机器人机构动态稳定性研究[J].机械工程学报,2017,53(13):39-47.
[9]刘征,陈谊超,丁华锋.一种新型矿用正铲液压挖掘机的运动学分析[J].机械工程学报,2014,50(15):28-33.
[10]王芳,赵美宁,王立党.基于牛顿-拉夫森数值算法的杆机构位置求解[J].西安工业学院学报,2005,25(3):220-222.
[11]朱凯君,蔡敢为,张林,等.新型三自由度多连杆混合驱动机构的运动学分析和工作空间数值求解[J].重型机械,2016(5):61-67.